184 bug reduce artifical speed limit if actual speed limit is not kno…

…wn (#196)

# Description

Lowered the speed limit to a more reasonable value. For testing this
value is set so that it should not interfere with the `max_velocity`
(around 130 km/h).

Fixes #184 

## Time invested

~30 min @schwalga 

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Does this PR introduce a breaking change?

No

## Most important changes

Basically just reduced float("inf") to a variable and tested the
changes, therefore not a whole lot changed.

# Checklist:

- [x] My code follows the style guidelines of this project
- [x] I have performed a self-review of my own code
- [x] I have commented my code, particularly in hard-to-understand areas
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works (might be obsolete with CI later on)
- [x] New and existing unit tests pass locally with my changes (might be
obsolete with CI later on)

code/acting/src/acting/velocity_controller.py

@@ -6,6 +6,8 @@
 from simple_pid import PID
 from std_msgs.msg import Float32
 
+SPEED_LIMIT_DEFAULT: float = 36.0
+
 
 class VelocityController(CompatibleNode):
  """
@@ -83,7 +85,10 @@ def loop(timer_event=None):
  "publish a throttle value")
  return
  if self.__speed_limit is None or self.__speed_limit < 0:
- self.__speed_limit = float("inf")
+ self.logdebug("VelocityController hasn't received a acceptable"
+ " speed_limit yet. speed_limit has been set to"
+ f"default value {SPEED_LIMIT_DEFAULT}")
+ self.__speed_limit = SPEED_LIMIT_DEFAULT
  if self.__max_velocity < 0:
  self.logerr("Velocity controller doesn't support backward "
  "driving yet.")

code/acting/src/acting/velocity_publisher_dummy.py

@@ -23,9 +23,9 @@ def __init__(self):
  Float32,
  f"/carla/{self.role_name}/max_velocity",
  qos_profile=1)
- self.velocity = 4
+ self.velocity = 4.0
  self.delta_velocity = 0.125
- self.max_velocity = 5
+ self.max_velocity = 5.5
  self.min_velocity = 4
  self.__dv = self.delta_velocity